An open source software system for robot audition HARK and its evaluation

Kazuhiro Nakadai, Hiroshi G. Okuno, Hirofumi Nakajima, Yuji Hasegawa, Hiroshi Tsujino

Research output: Chapter in Book/Report/Conference proceedingConference contribution

51 Citations (Scopus)

Abstract

Robot capability of listening to several things at once by its own ears, that is, robot audition, is important in improving human-robot interaction. The critical issue in robot audition is real-time processing in noisy environments with high flexibility to support various kinds of robots and hardware configurations. This paper presents open-source robot audition software, called "HARK", which includes sound source localization, separation, and automatic speech recognition (ASR). Since separated sounds suffer from spectral distortion due to separation, HARK generates a temporal-frequency map of reliability, called "missing feature mask", for features of separated sounds. Then separated sounds are recognized by the Missing-Feature Theory (MFT) based ASR with missing feature masks. HARK is implemented on the middleware called "FlowDesigner" to share intermediate audio data, which provides real-time processing. HARK's performance in recognition of noisy/simultaneous speech is shown by using three humanoid robots, Honda ASIMO, SIG2 and Robovie with different microphone layouts.

Original languageEnglish
Title of host publication2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008
Pages561-566
Number of pages6
DOIs
Publication statusPublished - 2008
Externally publishedYes
Event2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008 - Daejeon
Duration: 2008 Dec 12008 Dec 3

Other

Other2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008
CityDaejeon
Period08/12/108/12/3

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction

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  • Cite this

    Nakadai, K., Okuno, H. G., Nakajima, H., Hasegawa, Y., & Tsujino, H. (2008). An open source software system for robot audition HARK and its evaluation. In 2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008 (pp. 561-566). [4756031] https://doi.org/10.1109/ICHR.2008.4756031